Gripper head and modular gripper head

ABSTRACT

A gripper head is for a robotic gripping system. The gripper head body has an attachment section and a tool section defining an attachment region for a tool. The attachment section is configured to attach the gripper head body to a mount of a robot. The gripper head body has a first port at the attachment section and a second port at the tool section. The gripper head body defines an internal channel mutually connecting the first port and the second port. The internal channel is configured to pass air between the first port at the attachment section and the second port at the tool section.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority of U.S. provisional patent applicationNo. 63/064,246 and filed on Aug. 11, 2020, the entire content of whichis incorporated herein by reference.

FIELD OF THE INVENTION

The disclosure relates to robotic gripper heads and gripper headassemblies.

BACKGROUND OF THE INVENTION

The robotics landscape is rapidly changing with the introduction ofcollaborative robots. Robots are working beside humans and able to bedeployed for a constantly growing number of tasks. With this comes theability to use a single robot for many different tasks. Robots need tobe rapidly redeployed and adapted to different workpieces or tasks.Different sizes, types, and shapes of material need to be transportedvia the robot. This requires many different robot process end effectorsto be developed and maintained. Gripping can be a challenge for a robotbeing deployed to do many different tasks or handling many differentworkpieces. Development of grippers for new workpieces can be verycostly and take an extended period of time to develop. Maintaining alarge library of robot end effectors to handle different workpieces orjobs can be very costly.

SUMMARY OF THE INVENTION

It is an object of the invention to provide a gripper head which can bequickly and effectively exchanged and/or adapted for differentworkpieces or tasks.

The aforementioned object can, for example, be achieved by a gripperhead having a gripper head body having an attachment section and a toolsection defining an attachment region for a tool; the attachment sectionbeing configured to attach the gripper head body to a mount of a robot;the gripper head body having a first port at the attachment section anda second port at the tool section; the gripper body defining an internalchannel mutually connecting the first port and the second port; theinternal channel defining a cross-sectional area and being configured topass air between the first port at the attachment section and the secondport at the tool section; and, the cross-sectional area of the internalchannel, in at least a segment of the internal channel, increasing in adirection away from the attachment section.

The aforementioned object can, for example, further be achieved by agripper head having a gripper head body having an attachment section anda tool section defining an attachment region for a tool; the attachmentsection being configured to attach the gripper head body to a mount of arobot; the gripper head body having a first port at the attachmentsection and a second port at the tool section; the second port beingconfigured to receive an air hose connector; the gripper body definingan internal channel mutually connecting the first port and the secondport; and, the internal channel being configured to pass air between thefirst port at the attachment section and the second port at the toolsection.

The aforementioned object can, for example, also be achieved by agripper head assembly having a gripper head body having an attachmentsection and a tool section; the attachment section being configured toattach the gripper head body to a mount of a robot; a profile section;at least one fitting disposed at the tool section and configured toreceive and hold the profile section; an air hose having a first end anda second end; the gripper body defining an internal channel; the gripperhead body having a first port at the attachment section and a secondport at the tool section, wherein the internal channel connects thefirst port to the second port; the second port being configured toreceive the first end of the air hose; the internal channel beingconfigured to pass air between the first port at the attachment sectionand the second port at the tool section; a suction cup having anattachment stem; a suction cup mount having a vacuum cup receptacleconfigured to receive the attachment stem of the suction cup and an airhose receiver configured to receive the second end of the air hose; thesuction cup mount defining a profile slip fit pocket configured toengage the profile section and mount the suction cup mount on theprofile section; a change mount; and, the change mount including avacuum generator configured to connect to the first port and generate avacuum in the internal air channel.

A modular, quick change robotic gripper system is configured to move alarge range of workpieces to secondary processes. An example of this ismoving sheet metal parts to a press brake or a finishing machine fordeburring. The system includes a vacuum generator mounted to the end ofthe robot, known as the wrist. Different gripper heads can be quicklyand easily changed from the vacuum generator. This connection can bemade in various ways. Examples of attachment methods could be usingsocket head cap screws to affix the gripper head to the vacuum generatoror using an existing change tool coupling system. The gripper heads canhave internal passages for vacuum, compressed air, and/or wiringconnections. The connections can be made via an internal channel forconveying air and internal passages for wires, tubing and the like.Gripper heads can have multiple quick change or adjustment toolingoptions incorporated into them. The tooling incorporated into thegripper head can include many different options. Some relevant examplesare suction cups, mechanical fingers for grabbing workpieces, andmagnets for grabbing workpieces. The gripping components can all beinterchangeable across the system.

Tooling components can be mounted in a pocket in the gripper body ormounted, for example, on a piece of standard profile made of extrudedaluminum. Tooling components can all be made from lightweight materials,such as lightweight high strength carbon fiber included polymers. Byusing such materials, the overall weight of the gripping system can begreatly reduced. Reduction in tooling weight results in more efficientrobot operation. The robot requires less power to make movements. Therobot is able to move faster and acceleration/deceleration maneuvers canbe achieved quicker thus improving overall cycle time. This reduction ingripper weight leaves more of the robot's maximum payload available forthe workpiece itself.

The gripping system is capable of accepting many different tool plateson a standardized hub of a gripping system. This tool plate can quicklybe changed by removing two socket head cap screws and unhooking quickdisconnects for vacuum, air, and electrical. The quick-change platesystem can be applied to a variety gripping head configurations. Thisallows the system to cover many different workpiece configurations usingthe same expensive components as a base for the quick-change system.This saves time and money. Parts of the gripper head can be changed inminutes. As a result, the robot can be more rapidly and easilyredeployed to perform other tasks.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will now be described with reference to the drawingswherein:

FIG. 1 shows a gripper head according to the disclosure;

FIG. 2 shows the gripper head of FIG. 1 attached to a quick-change mountand having suction cups mounted at the tool section of the gripper head;

FIG. 3A shows an internal channel of the gripper head of FIG. 1 in a topplan section view;

FIG. 3B shows the internal channel in a side elevation section view ofthe gripper head of FIG. 1 ;

FIG. 3C shows the gripper head and the internal channel in sideelevation section view of the gripper head of FIG. 1 ;

FIG. 3D shows the internal channel along the section E-E of FIG. 3C;

FIG. 4 shows a suction cup;

FIG. 5 shows a further embodiment of a gripper head body according tothe disclosure;

FIG. 6A shows the gripper head of FIG. 5 with an internal channel shown;

FIG. 6B is a section view along line A-A of FIG. 6A;

FIG. 7 shows the gripper head body of FIG. 5 equipped with profilesections, suction cup mounts and suction cups;

FIGS. 8A and 8B show a suction cup mount of FIG. 7 in more detail;

FIG. 9 shows an embodiment of a profile section;

FIG. 10 shows an air hose connector;

FIG. 11 shows an end cap of the gripper head of FIG. 7 ;

FIG. 12A shows an embodiment of a gripper head in a side view;

FIG. 12B is a further view of the gripper head of FIG. 12A; and,

FIG. 12C is a section view along C-C of FIG. 12B.

DESCRIPTION OF THE PREFERRED EMBODIMENTS OF THE INVENTION

FIG. 1 shows an embodiment of a gripper head 1. The gripper head 1 shownin FIG. 1 can, for example, be used for small parts which only requirevacuum for manipulation and which cannot be effectively gripped bymodular versions. These heads can be quickly and easily manufacturedusing additive manufacturing techniques. The gripper head 1 includes agripper head body 2. In an embodiment, the gripper head body 2 can beattached to, for example, a robotic arm via a quick-change mount 5. Inthe embodiment, the quick-change mount 5 includes a vacuum generator andforms an interface between the gripper head 1 and the robotic arm.Connectors 9 can be used to fasten the gripper head 1 to thequick-change mount 5. The connectors 9 can be in the form of fasteners,however, other connections can be used to connect the gripper head 1 tothe quick-change mount 5, such as a snap-fit connection etc.

The gripper head body 2 can, for example, be a light weight carbon fiberincluded polymer gripper head body 2. The gripper head body 2 has anattachment section 3 whereat the gripper head body 2 can be connected tothe quick-change mount 5. The gripper head body 2 further has a toolsection 4 which defines an attachment region for a tool. The gripperhead body 2 can include an intermediate section 14 (See FIG. 3C). Thetop of tool section 4 defines a plane X and the attachment sectiondefines a plane Y. The intermediate section 14 projects horizontallyfrom the attachment section 3 to the tool section 4. In the embodimentshown in FIGS. 1 and 3C, the tool section 4 extends perpendicularly withrespect to the intermediate section 14. Further, the plane X defined bythe top of the tool section 4 extends perpendicular to the plane Ydefined by the attachment section 3.

The gripper head 1 includes a first port 6 at the attachment section 3and a second port 7 at the tool section 4. The gripper head body 2defines an internal channel 8. The internal channel 8 interconnects thefirst port 6 and the second port 7. Suction or pressure generated by avacuum generator, compressor or the like can be communicated from thefirst port 6 through the gripper head body 2 to the second port 7 at thetool section 4. The vacuum generator and/or compressor can be integralwith the quick-change mount 5.

The tool section 4 can define a receptacle 10 for tools. In theembodiment shown in FIG. 1 , the gripper head 1 has three toolreceptacles 10 which can each have a suction cup 11 mounted therein.FIG. 2 shows the gripper head 1 with suction cups 11 mounted in thereceptacles 10. The suction cup 11 can have a suction cup stem 12configured to be inserted into the receptacle 10 (FIG. 4 ). The gripperhead 1 of FIG. 2 is further attached to a quick-change mount 5. Thegripper head 1 of FIG. 2 further has a suction cup 11 mounted in eachreceptacle 10. The internal channel 8 can be connected to each of thereceptacles 10 and, as a result, to the suction cups 11. The internalchannel 8 can be dimensioned so as to connect to each receptacle 10. Theinternal channel 8 can also include branches wherein the branchesconnect the main portion of the internal channel 8 to the receptacles10.

In the embodiment shown in a top plan view in FIG. 3A, the internalchannel 8 widens in the tool section 4 so that each receptacle 10 isconnected to the internal channel 8.

Further, in the embodiment shown in FIGS. 3A to 3D, the cross-sectionalarea of the internal channel 8 tapers toward the attachment section 3and widens toward the tool section 4. An increasing cross-sectional areaof the internal channel 8 with increasing distance to the attachmentsection 3 can improve the air flow characteristics through the gripperhead body 2. The cross-sectional area of the internal channel mayincrease in a direction away from the attachment section along theentirety of the internal channel or in a segment thereof. As a result ofthe internal channel 8 being narrower toward the attachment section 3,the rate of air flow can be increased. FIG. 3D shows the internalchannel via a section view along E-E of FIG. 3C in the direction of theattachment section 3.

FIG. 5 shows a further embodiment of the gripper head 1 according to thedisclosure. The gripper head body 2 includes an attachment section 3 forattaching the gripper head 1 to a mount, for example, a quick-changemount 5. The gripper head body 2 further has a tool section 4. A fitting16 is disposed at the tool section 4. The fittings 16 can be slippockets for extrusion mounting as shown in FIG. 5 . In the embodimentshown in FIG. 5 , four fittings 16 are provided at the tool section 4.The fitting 16 of FIG. 5 is configured to receive a profile section andhold the profile section therein. The fitting 16 may include a bore fora fastener or the like for retaining a profile section 18 in the fitting16. An example of a profile section 18 is shown in FIG. 9 . Theembodiment shown in FIG. 5 includes multiple second ports 7. The secondports 7 can, for example, have an air hose connected thereto.

An internal channel 8 connects the second port 7 to the first port 6 atthe attachment section 3. As shown in FIG. 6A, a first port 6 isdisposed at the attachment section 3. The attachment section 3 can beattached to a mount, for example, a quick-change mount 5 via fastenersinserted through openings 20. A vacuum or compressed air can beintroduced into the internal channel 8 via the first port 6. Theinternal channel 8 extends through the gripper head body 2 to the secondports 7. In the embodiment according to FIG. 6A, the gripper head body 2extends diagonally away from a mounting surface 21. The gripper headbody 2 curves further away from the attachment section 3 in a transitionfrom the intermediate section 15 to the tool section 4. FIG. 6B shows asection view along line A-A of FIG. 6A. As shown in FIG. 6B, theinternal channel 8 may increase in cross-sectional area at thetransition from the intermediate section 15 to the tool section 4.

The gripper body further includes an extension section and an arcuatesection 13. The attachment section 3 transitions to an intermediatesection 15 which in turn transitions into the arcuate section 13. Thearcuate section 13 transitions into the tool section 4.

As shown in FIG. 6B, the attachment section 3 of the gripper head 1defines a first plane X. The intermediate section 15 extends at an acuteangle from the first plane X. The arcuate section 13 curves away fromthe first plane X. The tool section 4 defines a second plane Y. Thesecond plane Y is perpendicular to the first plane X according to theembodiment shown in FIG. 6B.

FIG. 7 shows the gripper head body 2 of FIG. 5 attached to aquick-change mount 5. The gripper head 1 further has two profilesections 18. The gripper head body 2 includes two front fittings 16 eachof which define a pocket for a profile section 18. The pockets from thetwo front fittings 16 are aligned so that a single profile section canbe inserted through each fitting via the pockets. The gripper head body2 further includes two rear fittings 16. The pockets of the rearfittings 16 are aligned in a similar manner with respect to each otheras the front fittings 16 and are configured to conjointly receive asecond profile section 18.

The gripper head 1 of FIG. 7 further has five suction cup mounts 30. Thesuction cup mounts 30 are attached to the profile section 18 via mountpockets 31. The profile section 18 is inserted through the mount pocket31 of the suction cup mount 30. As shown in FIG. 7 , the mount pocket 31can surround the profile section 18. The position of the suction cupmount 30 can be adjusted by sliding the suction cup mount 30 along theprofile section 18. The suction cup mount 30 can be fixed in place onthe profile section 18 via a fastening or locking mechanism. The suctioncup mount 30 is shown in more detail in FIGS. 8A and 8B. In theexemplary embodiment of the suction cup mount 30 shown in FIGS. 7, 8Aand 8B, the suction cup mount 30 is fastened to the profile section 18via a standard t-nut and bolt, but can be attached in relation theretovia any suitable attachment methods. The t-nut is inserted or threadedinto opening 32 and projects downward so as to hold the suction cupmount 30 in place on the profile section 18.

The suction cup mount 30 further defines a receptacle 33 for a stem 12of a suction cup 11. The suction cup mount 30 has a hose connection 34.A hose or other connector can be attached to the hose connection 34. Thehose or other connector connects one of the second ports 7 to the hoseconnection 34. Via this connection, a vacuum or compressed air can beconveyed to the suction cup 11 inserted into the receptacle 33. The airhose can be connected to the second port 7 and to the hose connection 34via a hose connection fitting 37 shown in FIG. 10 .

The gripper head 1 also includes an end cap 40. The end cap 40 slipsover the ends of the two profile sections 18. The end cap 40 can befastened to holes in the profile section via fasteners, for example,button head cap screws. FIG. 11 shows an embodiment of an end cap 40.The end cap 40 defines two end cap pockets 41. The first end cap pocket41 is configured to receive a first end of a first profile section 18while the second end cap pocket 41 is configured to receive a first endof a second profile section. The end cap 40 further defines a first endcap bore 42 configured to fix the end cap 40 on the end of the firstprofile section 18 via, for example, a fastener. The end cap furtherdefines a second end cap bore 42 for fixing the end cap 40 on the secondprofile section 18. A second end cap 40 can be arranged over the secondends of the two profile sections 18. The end cap 40 can, for example, bemade of aluminum or another suitable material.

Two end caps 40 are shown in FIG. 7 , one arranged at each side of thegripper head 1. It shows the end cap pockets 41 slipped over the end ofthe profile sections 18 as well as the end cap bores 42 for thefasteners. This end cap 40 allows for longer length extrusions to beused for gripper head assemblies. By mounting the end caps the entiregripper head becomes very stable.

FIG. 12A shows a gripper head 1 in a side view. The gripper head 1includes an internal passthrough channel 45, for example, for a cable.The passthrough channel 45 has a first opening 46 at the attachmentsection. The passthrough channel 45 leads through the gripper head body2 and connects the first opening 46 at the attachment section 3 to asecond opening 47 at the tool section 4. Passing the cable through thegripper head body 2 streamlines the assembled gripper head 1. By passingthe cable through the gripper head body 2, the portion of the cablewhich is in the internal passthrough channel 45 cannot get hung up onwork pieces, other equipment or other items in or near the work space ofthe gripper head 1. A hose inserted through the internal passthroughchannel 45 can, for example, be used to supply compressed air to a toolor be used for removing debris and dust. Other examples include cablesfor laser measuring devices, cables for a servo motor, cables for closedloop feedback devices, for example, cables for proximity switches ongripping devices for indicating gripper open or gripper closed.Hydraulic lines, for example, for a hydraulic motor or a hydraulicgripper, can also be inserted through the internal passthrough channel45.

The gripper head 1 of FIG. 12A can have two tools attached at the toolsection 4. In the embodiment shown, the first tool 50 is embodied as asuction cup and the second tool 51 is a pinch gripper. The second tool51 can be attached to the gripper head 1 via fasteners 52 or othersuitable attachment methods. The pinch gripper shown in FIG. 12Aincludes two fingers 53 and 54 which can be actuated to grip or pinch aworkpiece therebetween. Equipping the gripper head 1 with multiple toolsenables the gripper head 1 to retrieve a work piece 57 and place thework piece in a processing station, for example a press brake, using thefirst tool 50 and to use the second tool 51, for example, forrepositioning the work piece in the processing station, for removal fromthe work station and/or transportation to and deposition at a furtherprocessing station.

The tools 50 and 51 can be oriented in different directions. In theembodiment shown in FIG. 12A, the first tool 50 is directed in avertical direction while the second tool 51 is directed in a horizontaldirection. The internal channel 8 can, for example, be used to supplyone of the two tools 50 and 51 with pressurized air or a vacuum whilethe passthrough channel(s) 45 can, for example, be used to connect oneor both of the two tools 50 and 51 to a control unit, a power supply orthe like. In the embodiment shown in FIG. 12A, the first tool 50includes a port 56 which can be connected to the second port 7 of theinternal channel 8. The first tool 50 can thereby be connected to avacuum generator at the quick-change mount 5 via the internal channel 8and a hose connecting the second port 7 to the port 56 of the first tool50.

As shown in FIG. 12B, the gripper head 1 can include multiple cablepassthrough channels 45. In the shown embodiment, the first passthroughchannel 45 is arranged on one side of the internal channel 8 while thesecond passthrough channel 45 is on the opposite side of the internalchannel 8. In the shown embodiment, the internal channel 8 ends at asecond port 7 whereat an air hose can, for example, be connected. FIG.12C is a section view at C-C of FIG. 12B and shows the internal crosssection of the gripper head body 2 with the internal channel 8 and twopassthrough channels 45.

It is understood that the foregoing description is that of the preferredembodiments of the invention and that various changes and modificationsmay be made thereto without departing from the spirit and scope of theinvention.

LIST OF REFERENCE NUMERALS

-   Gripper head 1-   gripper head body 2-   attachment section 3-   tool section 4-   quick change mount 5-   First port 6-   Second port 7-   Internal channel 8-   Connectors 9-   Tool receptacle 10-   Suction cup 11-   suction cup stem 12-   Arcuate section 13-   Intermediate section 14-   Intermediate section 15-   Fitting 16-   profile section 18-   Through opening 20-   Mounting surface 21-   suction cup mounts 30-   Suction cup mount pockets 31-   Opening 32-   Receptacle 33-   Hose connection 34-   hose connection fitting 37-   End cap 40-   First end cap pocket 41-   end cap bore 42-   Passthrough channel 45-   First pass through opening 46-   Second passthrough opening 47-   First tool 50-   Second tool 51-   Fastener 52-   Finger 53-   Finger 54-   Port 56-   Work piece 57-   Planes X, Y

What is claimed is:
 1. A gripper head comprising: a gripper head bodyhaving an attachment section and a tool section defining an attachmentregion for a tool; said attachment section being configured to attachsaid gripper head body to a mount of a robot; said gripper head bodyhaving a first port at said attachment section and a second port at saidtool section; said gripper body defining an internal channel mutuallyconnecting said first port and said second port; said internal channeldefining a cross-sectional area and being configured to pass air betweensaid first port at said attachment section and said second port at saidtool section; said cross-sectional area of said internal channel, in atleast a segment of said internal channel, increasing in a direction awayfrom said attachment section; wherein said gripper head body defines atleast one receptacle for a suction cup stem at said tool section; and,said gripper head body defines three of said receptacles and each ofsaid receptacles is operatively connected to said internal channel. 2.The gripper head of claim 1, wherein said gripper head body defines afirst plane at said attachment section and a second plane at said toolsection, said first plane being perpendicular to said second plane. 3.The gripper head of claim 1 further comprising a fitting disposed atsaid tool section and configured to receive and hold a profile section.4. The gripper head of claim 3, wherein said fitting is a slip jointdefining a direction of insertion for a profile section.
 5. The gripperhead of claim 1, wherein said gripper body further includes anintermediate section and an arcuate section, wherein said attachmentsection transitions to said intermediate section, said intermediatesection transitions into said arcuate section and said arcuate sectiontransitions into said tool section.
 6. A gripper head comprising: agripper head body having an attachment section and a tool sectiondefining an attachment region for a tool; said attachment section beingconfigured to attach said gripper head body to a mount of a robot; saidgripper head body having a first port at said attachment section and asecond port at said tool section; said gripper body defining an internalchannel mutually connecting said first port and said second port; saidinternal channel defining a cross-sectional area and being configured topass air between said first port at said attachment section and saidsecond port at said tool section; said cross-sectional area of saidinternal channel, in at least a segment of said internal channel,increasing in a direction away from said attachment section; a fittingdisposed at said tool section and configured to receive and hold aprofile section; and, said fitting defining a through hole for afastener for fixing the profile section in place.
 7. A gripper headcomprising: a gripper head body having an attachment section and a toolsection defining an attachment region for a tool; said attachmentsection being configured to attach said gripper head body to a mount ofa robot; said gripper head body having a first port at said attachmentsection and a second port at said tool section; said gripper bodydefining an internal channel mutually connecting said first port andsaid second port; said internal channel defining a cross-sectional areaand being configured to pass air between said first port at saidattachment section and said second port at said tool section; saidcross-sectional area of said internal channel, in at least a segment ofsaid internal channel, increasing in a direction away from saidattachment section; at least one fitting disposed at said tool sectionand configured to receive and hold a profile section; and, wherein fourfittings are disposed at said tool section including a first fitting, asecond fitting, a third fitting and a fourth fitting; said first fittingand said second fitting being configured to receive a first profilesection and conjointly hold the first profile section; said thirdfitting and said fourth fitting being configured to receive a secondprofile section and conjointly hold the second profile section.
 8. Agripper head comprising: a gripper head body having an attachmentsection and a tool section defining an attachment region for a tool;said attachment section being configured to attach said gripper headbody to a mount of a robot; said gripper head body having a first portat said attachment section and a second port at said tool section; saidgripper body defining an internal channel mutually connecting said firstport and said second port; said internal channel defining across-sectional area and being configured to pass air between said firstport at said attachment section and said second port at said toolsection; said cross-sectional area of said internal channel, in at leasta segment of said internal channel, increasing in a direction away fromsaid attachment section; wherein said gripper body further includes anintermediate section and an arcuate section, wherein said attachmentsection transitions to said intermediate section, said intermediatesection transitions into said arcuate section and said arcuate sectiontransitions into said tool section; wherein said attachment sectiondefines a first plane; said intermediate section extends at an acuteangle from said first plane; said arcuate section curves away from saidfirst plane; and, said tool section defines a second plane perpendicularto said first plane.
 9. A gripper head comprising: a gripper head bodyhaving an attachment section and a tool section defining an attachmentregion for a tool; said attachment section being configured to attachsaid gripper head body to a mount of a robot; said gripper head bodyhaving a first port at said attachment section and a second port at saidtool section; said gripper body defining an internal channel mutuallyconnecting said first port and said second port; said internal channeldefining a cross-sectional area and being configured to pass air betweensaid first port at said attachment section and said second port at saidtool section; said cross-sectional area of said internal channel, in atleast a segment of said internal channel, increasing in a direction awayfrom said attachment section; a fitting disposed at said tool sectionand configured to receive and hold a profile section; wherein saidfitting is a slip joint defining a direction of insertion for a profilesection; and, wherein said slip joint defines an opening configured toreceive a fastener and said fastener is configured to engage a t-nut.10. A gripper head comprising: a gripper head body having an attachmentsection and a tool section defining an attachment region for a tool;said attachment section being configured to attach said gripper headbody to a mount of a robot; said gripper head body having a first portat said attachment section and a second port at said tool section; saidsecond port being configured to receive an air hose connector; saidgripper body defining an internal channel mutually connecting said firstport and said second port; said internal channel being configured topass air between said first port at said attachment section and saidsecond port at said tool section; and, wherein said gripper head bodyhas a plurality of second ports disposed at said tool section, eachconnecting to said first port via said internal channel.
 11. The gripperhead of claim 10, wherein said tool section is configured to have twoseparate tools attached thereto.
 12. The gripper head of claim 11,wherein one of said two separate tools is a pinch gripper.
 13. Thegripper head of claim 10, wherein said tool section is configured tohave a pinch gripper and a suction cup attached thereto.
 14. The gripperhead of claim 13, wherein said pinch gripper and said suction cup areoriented in different directions.
 15. The gripper head of claim 10,wherein the gripper head is configured to accept an extruded profile.16. The gripper head of claim 10, wherein said gripper head body furtherdefines a passthrough for at least one of a cable and a hose, saidpassthrough having a first opening at said attachment section and asecond opening at said tool section.
 17. The gripper head of claim 16,wherein said tool section is configured to have two tools attachedthereto, wherein a first of said two tools is supplied with at least oneof compressed air and a vacuum via said internal channel and a second ofsaid two tools is connected to a cable inserted through saidpassthrough.
 18. A gripper head assembly comprising: a gripper head bodyhaving an attachment section and a tool section; said attachment sectionbeing configured to attach said gripper head body to a mount of a robot;a profile section; at least one fitting disposed at said tool sectionand configured to receive and hold said profile section; an air hosehaving a first end and a second end; said gripper head body defining aninternal channel; said gripper head body having a first port at saidattachment section and a second port at said tool section, wherein saidinternal channel connects said first port to said second port; saidsecond port being configured to receive said first end of said air hose;said internal channel being configured to pass air between said firstport at said attachment section and said second port at said toolsection; a suction cup having an attachment stem; a suction cup mounthaving a vacuum cup receptacle configured to receive said attachmentstem of said suction cup and an air hose receiver configured to receivesaid second end of said air hose; said suction cup mount defining aprofile slip fit pocket configured to engage said profile section andmount said suction cup mount on said profile section; a change mount;and, said change mount including a vacuum generator configured toconnect to said first port and generate a vacuum in said internalchannel.
 19. The gripper head assembly of claim 18, wherein said profilesection is a first profile section, said at least one fitting is a firstfitting, the gripper head assembly further comprising: a second profilesection; and, at least one second fitting at said tool sectionconfigured to receive and hold said second profile section.
 20. Thegripper head assembly of claim 19 further comprising: a first end cap;said first profile section and said second profile section each having afirst end and a second end; said first end cap being configured toreceive said first end of said first profile section and said first endof said second profile section; and, a second end cap configured toreceive said second end of said first profile section and said secondend of said second profile section.